Blended Move C/C++ Code

The following example code is not necessarily complete, and may not compile if copied exactly. Refer to the examples folder on the NI-Motion CD for files that are complete and compile as is.

// Main Function
void main(void){

   u8   boardID;          // Board identification number
   u8   vectorSpace;      // Vector space number
   u16 csr   = 0;         // Communication status register
   u16 axisStatus;        // Axis status
   u16 status;
   u16 complete;          // Move or blend complete status

   // Variables for modal error handling
   u16 commandID;         // The commandID of the function
   u16 resourceID;        // The resource ID
   i32 errorCode;         // Error code
      
   ///////////////////////////////
   // Set the board ID
   boardID= 1;
   // Set the axis number
   vectorSpace = NIMC_VECTOR_SPACE1;
   ////////////////////////////////

   // Configure a 2D Vector Space comprising of axes 1, and 2
   err = flex_config_vect_spc(boardID, vectorSpace, 1, 2, 0);
   CheckError;

   // Set the velocity for the move (in counts/sec)   
   err = flex_load_velocity(boardID, vectorSpace, 10000, 0xFF);
   CheckError;
   
   // Set the acceleration for the move (in counts/sec^2)
   err = flex_load_acceleration(boardID, vectorSpace, NIMC_ACCELERATION, 100000, 0xFF);
   CheckError;
   
   // Set the deceleration for the move (in counts/sec^2)
   err = flex_load_acceleration(boardID, vectorSpace, NIMC_DECELERATION, 100000, 0xFF);
   CheckError;
   
   // Set the jerk or scurve in sample periods
   err = flex_load_scurve_time(boardID, vectorSpace, 1, 0xFF);
   CheckError;

   // Set the operation mode to absolute position
   err = flex_set_op_mode(boardID, vectorSpace, NIMC_ABSOLUTE_POSITION);
   CheckError;


   // Load the first straight line segments to position 5000, 5000
   err = flex_load_vs_pos(boardID, vectorSpace, 5000, 5000, 0,  0xFF);
   CheckError;

   // Start the move
   err = flex_start(boardID, vectorSpace, 0);
   CheckError;

   // Load Circular Arc - making a semicircle in the counter clockwise direction
   err = flex_load_circular_arc (boardID, vectorSpace, 5000/*radius*/, 0.0/*startAngle*/, 180.0/*travelAngle*/, 0xFF);
   CheckError;

   // Blend the move
   err = flex_blend(boardID, vectorSpace, 0);
   CheckError;

   // Wait for blend to complete before loading the next segment
   do
   {
      axisStatus = 0;

      // Check the blend complete status
      err = flex_check_blend_complete_status(boardID, vectorSpace, 0, &complete);
      CheckError;         
      
      // Check the following error/axis off status for axis 1
      err = flex_read_axis_status_rtn(boardID, 1, &status);
      CheckError;
      axisStatus |= status;


      // Check the following error/axis off status for axis 2
      err = flex_read_axis_status_rtn(boardID, 2, &status);
      CheckError;
      axisStatus |= status;

      // Read the communication status register and check the modal errors
      err = flex_read_csr_rtn(boardID, &csr);
      CheckError;
      // Check the modal errors
      if (csr & NIMC_MODAL_ERROR_MSG)
      {
         err = csr & NIMC_MODAL_ERROR_MSG;
         CheckError;
      }
      Sleep(50); // Check every 50 ms

   }while (!complete && !(axisStatus & NIMC_FOLLOWING_ERROR_BIT) && !(axisStatus & NIMC_AXIS_OFF_BIT)); // Exit on move complete/following error/axis off


   // Load the final straightline segments to position 0, 0
   err = flex_load_vs_pos(boardID, vectorSpace, 0, 0, 0,  0xFF);
   CheckError;

   // Wait for move to complete as this is the final segment
   do
   {
      axisStatus = 0;

      // Check the move complete status
      err = flex_check_move_complete_status(boardID, vectorSpace, 0, &complete);
      CheckError
      
      // Check the following error/axis off status for axis 1
      err = flex_read_axis_status_rtn(boardID, 1, &status);
      CheckError;
      axisStatus |= status;


      // Check the following error/axis off status for axis 2
      err = flex_read_axis_status_rtn(boardID, 2, &status);
      CheckError;
      axisStatus |= status;

      // Read the communication status register and check the modal errors
      err = flex_read_csr_rtn(boardID, &csr);
      CheckError;
      // Check the modal errors
      if (csr & NIMC_MODAL_ERROR_MSG)
      {
         err = csr & NIMC_MODAL_ERROR_MSG;
         CheckError;
      }
      Sleep(50); // Check every 50 ms

   }while (!complete && !(axisStatus & NIMC_FOLLOWING_ERROR_BIT) && !(axisStatus & NIMC_AXIS_OFF_BIT)); // Exit on move complete/following error/axis off

   return;      // Exit the Application

   
   /////////////////////////////////////////////////////////////////////////
   // Error Handling
   //
   nimcHandleError; //NIMCCATCHTHIS:
   
   // Check to see if there were any Modal Errors
   if (csr & NIMC_MODAL_ERROR_MSG){
      do{
         // Get the command ID, resource and the error code of the modal
         // error from the error stack on the board
         flex_read_error_msg_rtn(boardID,&commandID,&resourceID,&errorCode);
         nimcDisplayError(errorCode,commandID,resourceID);

         // Read the Communication Status Register
         flex_read_csr_rtn(boardID,&csr);

      }while(csr & NIMC_MODAL_ERROR_MSG);
   }
   else       // Display regular error
      nimcDisplayError(err,0,0);
   return;    // Exit the Application
}